public void TestCreateAnalogInputNull()
{
Assert.Throws<ArgumentNullException>(() =>
{
AnalogGyro input = new AnalogGyro(null);
});
}
public void TestCreateExistingAnalogInput()
{
using (AnalogInput aIn = new AnalogInput(0))
using (AnalogGyro input = new AnalogGyro(aIn))
{
Assert.IsTrue(GetGyroData(0).Initialized);
}
}
public override void RobotInit()
{
int status = 0;
var ret = HALThreads.HAL_SetCurrentThreadPriority(true, 25, ref status);
Console.WriteLine(status);
Console.WriteLine(ret);
Thread cameraThread = new Thread(() =>
{
// Get the USB Camera from the camera server
UsbCamera camera = CameraServer.Instance.StartAutomaticCapture();
camera.SetResolution(640, 480);
// Get a CvSink. This will capture Mats from the Camera
CvSink cvSink = CameraServer.Instance.GetVideo();
// Setup a CvSource. This will send images back to the dashboard
CvSource outputStream = CameraServer.Instance.PutVideo("Rectangle", 640, 480);
// Mats are very expensive. Let's reuse this Mat.
Mat mat = new Mat();
while (true)
{
// Tell the CvSink to grab a frame from the camera and put it
// in the source mat. If there is an error notify the output.
if (cvSink.GrabFrame(mat) == 0)
{
Console.WriteLine("Timeout");
// Send the output the error.
outputStream.NotifyError(cvSink.GetError());
// skip the rest of the current iteration
continue;
}
// Put a rectangle on the image
Cv2.Rectangle(mat, new Point(100, 100), new Point(400, 400),
new Scalar(255, 255, 255), 5);
// Give the output stream a new image to display
outputStream.PutFrame(mat);
}
});
cameraThread.IsBackground = true;
cameraThread.Start();
servo = new Servo(0);
joystick = new Joystick(0);
gyro = new AnalogGyro(0);
}
public void TestCreationPreCreatedInputNull()
{
Assert.Throws<ArgumentNullException>(() =>
{
AnalogGyro gyro = new AnalogGyro(null);
});
}
//public static List<ErrorData> ErrorList { get; } = new List<ErrorData>();
/*
* /// <summary>
* /// Gets the can talon.
* /// </summary>
* /// <param name="id">The identifier.</param>
* /// <returns></returns>
* public static CanTalonData GetCanTalon(int id)
* {
* CanTalonData data;
* bool retVal = s_canTalon.TryGetValue(id, out data);
* if (retVal)
* {
* //Contains key. Just return it
* return data;
* }
* else
* {
* //CAN Talon does not exist yet. Return null.
* return null;
* }
* }
*
* /// <summary>
* /// Initializes the can talon.
* /// </summary>
* /// <param name="id">The identifier.</param>
* /// <returns></returns>
* public static bool InitializeCanTalon(int id)
* {
* CanTalonData data;
* bool retVal = s_canTalon.TryGetValue(id, out data);
* if (retVal)
* {
* //Contains key. return false saying we did not initialize a new one.
* return false;
* }
* else
* {
* //Create a new Can Talon data and return true.
* data = new CanTalonData();
* s_canTalon.Add(id, data);
* OnTalonSRXAddedOrRemoved?.Invoke(id, new TalonSRXEventArgs(true));
* return true;
* }
* }
*
* /// <summary>
* /// Removes the can talon.
* /// </summary>
* /// <param name="id">The identifier.</param>
* public static void RemoveCanTalon(int id)
* {
* s_canTalon.Remove(id);
* OnTalonSRXAddedOrRemoved?.Invoke(id, new TalonSRXEventArgs(false));
* }
*
* /// <summary>
* /// Gets the PCM.
* /// </summary>
* /// <param name="id">The identifier.</param>
* /// <returns></returns>
* public static PCMData GetPCM(int id)
* {
* PCMData data;
* bool retVal = s_pcm.TryGetValue(id, out data);
* if (retVal)
* {
* //Contains key. Just return it
* return data;
* }
* else
* {
* data = new PCMData();
* s_pcm.Add(id, data);
* OnPCMAdded?.Invoke(data, null);
* return data;
* }
* }
*
* /// <summary>
* /// Initializes the PCM.
* /// </summary>
* /// <param name="id">The identifier.</param>
* /// <returns></returns>
* public static bool InitializePCM(int id)
* {
* PCMData data;
* bool retVal = s_pcm.TryGetValue(id, out data);
* if (retVal)
* {
* //Contains key. return false saying we did not initialize a new one.
* return false;
* }
* else
* {
* //Create a new PCM data and return true.
* data = new PCMData();
* s_pcm.Add(id, data);
* OnPCMAdded?.Invoke(data, null);
* return true;
* }
* }
*
* /// <summary>
* /// Gets the PDP.
* /// </summary>
* /// <param name="id">The identifier.</param>
* /// <returns></returns>
* public static PDPData GetPDP(int id)
* {
* PDPData data;
* bool retVal = s_pdp.TryGetValue(id, out data);
* if (retVal)
* {
* //Contains key. Just return it
* return data;
* }
* else
* {
* data = new PDPData();
* s_pdp.Add(id, data);
* OnPDPAdded?.Invoke(data, null);
* return data;
* }
* }
*
* /// <summary>
* /// Initializes a new PDP.
* /// </summary>
* /// <param name="id">The identifier.</param>
* /// <returns>True if new PDP was created, otherwise false</returns>
* public static bool InitializePDP(int id)
* {
* PDPData data;
* bool retVal = s_pdp.TryGetValue(id, out data);
* if (retVal)
* {
* //Contains key. return false saying we did not initialize a new one.
* return false;
* }
* else
* {
* //Create a new PCM data and return true.
* data = new PDPData();
* s_pdp.Add(id, data);
* OnPDPAdded?.Invoke(data, null);
* return true;
* }
* }
*
* /// <summary>
* /// Occurs on talon SRX added or removed.
* /// </summary>
* public static event EventHandler<TalonSRXEventArgs> OnTalonSRXAddedOrRemoved;
* /// <summary>
* /// Occurs when a PCM is added.
* /// </summary>
* public static event EventHandler OnPCMAdded;
* /// <summary>
* /// Occurs when a PDP is added.
* /// </summary>
* public static event EventHandler OnPDPAdded;
*
*/
static SimData()
{
for (int i = 0; i < HAL_GetNumPCMModules(); i++)
{
PCM.Add(new HALSimPCMData(i));
}
for (int i = 0; i < HAL_GetNumPDPModules(); i++)
{
PDP.Add(new HALSimPDPData(i));
}
for (int i = 0; i < HAL_GetNumAccumulators(); i++)
{
AnalogGyro.Add(new HALSimAnalogGyroData(i));
}
for (int i = 0; i < HAL_GetNumAnalogOutputs(); i++)
{
AnalogOut.Add(new HALSimAnalogOutData(i));
}
for (int i = 0; i < HAL_GetNumAnalogInputs(); i++)
{
AnalogIn.Add(new HALSimAnalogInData(i));
}
for (int i = 0; i < HAL_GetNumAnalogTriggers(); i++)
{
AnalogTrigger.Add(new HALSimAnalogTriggerData(i));
}
for (int i = 0; i < HAL_GetNumDigitalChannels(); i++)
{
DIO.Add(new HALSimDIOData(i));
}
for (int i = 0; i < HAL_GetNumDigitalPWMOutputs(); i++)
{
DigitalPWM.Add(new HALSimDigitalPWMData(i));
}
for (int i = 0; i < 4; i++)
{
//DigitalGlitchFilter.Add(new DigitalGlitchFilterData());
}
for (int i = 0; i < HAL_GetNumPWMChannels(); i++)
{
PWM.Add(new HALSimPWMData(i));
}
for (int i = 0; i < 4; i++)
{
Relay.Add(new HALSimRelayData(i));
}
for (int i = 0; i < 8; i++)
{
//Counter.Add(new CounterData());
}
for (int i = 0; i < 8; i++)
{
Encoder.Add(new HALSimEncoderData(i));
}
for (int i = 0; i < 5; i++)
{
SPIAccelerometer.Add(new HALSimSPIAccelerometerData(i));
}
for (int i = 0; i < 5; i++)
{
//SPIAccumulator.Add(new SPIAccumulatorData());
}
//InitializePDP(0);
//ErrorList.Clear();
}
